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October 1, 2025Open Access

Adaptive Fault-tolerant Control of Underwater Vehicles with Thruster Failures

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Authors

HLHaolin LiuSZShiliang ZhangSJShangbin Jiao

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Overview

This analysis shows effective trajectory tracking in autonomous underwater vehicles, suggesting adaptive control methods for thruster failures.

Key Points

  • The proposed fault-tolerant control ensures stable trajectory tracking for AUVs despite thruster failures and switching events.
  • Numerical simulations indicated that the control provides smooth transitions and effective tracking in scenarios with multiple fault types.
  • A Bayesian approach helps in defining fault scenarios and guiding the control law to adaptively manage different thruster failures.
  • The method achieves stability through soft-switching control strategies, which are preferred over hard-switching methods during fault transitions.

Cite This Study

Liu et al. (2025) studied this question.

synapsesocial.com/papers/68dd91cbfe798ba2fc498788https://doi.org/10.48550/arxiv.2504.16037
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Also Consider

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  1. 1Adaptive Lyapunov-constrained MPC for fault-tolerant AUV trajectory tracking2025
  2. 2Fault‐Tolerant Control for Path Following of Underactuated Autonomous Underwater Vehicle With Input Delays and Output Constraints2025
  3. 3Fault-tolerant control based on sliding mode technique for unmanned marine vehicles with thruster saturation2026
  4. 4An energy efficient fault-tolerant controller for homing of underactuated AUVs2024 · 8 citations
  5. 5Fault Diagnosis and Reconfigurable Control of Autonomous Underwater Vehicles With Actuator Faults and Predefined‐Time Stability2026